US 5,107,193 A · Feedforward control apparatus for a servomotor

Abstract

A feedforward control apparatus capable of operating a servomotor smoothly and stably. A first feedforward controlled variable, obtained by differentiating a position command in a first feedforward term, is added to a control output of a position control loop, which varies depending on a positional deviation to obtain a speed command, whereby a response delay of the position control loop with respect to the position command is compensated to reduce control errors. Also, a second feedforward controlled variable, obtained by differentiating the first feedforward controlled variable in a second feedforward term, is added to a control output of a speed control loop, which varies depending on a speed deviation, whereby a response delay of the speed control loop with respect to the speed command is compensated to improve control stability, so that the servomotor and a mechanical system can be prevented from being shocked.

Claims5

Dependent claims

A feedforward servomotor control apparatus for controlling the speed of a servomotor based on a position command and an actual servomotor position signal, comprising:

a position control loop for obtaining a first controlled variable on the basis of the position command and the actual servomotor position signal:
first feedforward control means for differentiating said position command to obtain a first feedforward controlled variable;
first addition means for adding said first feedforward controlled variable to said first controlled variable to obtain a speed command;
a speed control loop for obtaining a second controlled variable on the basis of said speed command and an actual servomotor speed;
second feedforward control means for differentiating said first feedforward controlled variable;
and
second addition means for adding said second feedforward controlled variable to said second controlled variable to obtain a current command signal to control the speed of the servomotor.

4 more elements

A feedforward servomotor control apparatus for controlling the speed of a servomotor based on a position command and an actual servomotor position signal, comprising:

a position control loop for obtaining a controlled variable on the basis of the position command and the actual servomotor position signal;
feedforward control means for differentiating said position command to obtain a feedforward controlled variable;
acceleration/deceleration means for subjecting said feedforward controlled variable to acceleration/deceleration processing;
addition means for adding the feedforward controlled variable after the acceleration/deceleration processing to said controlled variable obtained by said position control loop to obtain a speed command signal;
and
an amplifier connected to control the servomotor in response to said current command signal.

3 more elements

Dependencies are inferred from the claim text.

Feedforward control apparatus for a servomotor

Life of this patent

Feedforward control apparatus for a servomotor

Life of this patent

Abstract

Claims5